UofTPed50 is an object detection and tracking dataset which uses GPS to ground truth the position and velocity of a pedestrian.
It can be used for benchmarking the positional accuracy of 3D pedestrian detection. It contains accurate positioning information by attaching a GPS system to the pedestrian itself. This dataset consists of 50 sequences of varying distance, pedestrian trajectory, and ego-vehicle trajectory. Each sequence contains one pedestrian. The scenarios are broken into four groups.